{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Pretty Depth Maps"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import re\n",
    "import sys\n",
    "\n",
    "from scipy import misc\n",
    "\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "%matplotlib inline"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "DIR = \"/home/barsana/datasets/kitti/odometry-dataset/sequences/05/precomputed-depth-dispnet-png/\"\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "for i in range(1, 100):\n",
    "    fpath = \"{}{:06d}.png\".format(DIR, i)\n",
    "    fpath_pretty = \"{}{:06d}-viridis.png\".format(DIR, i)\n",
    "    img = plt.imread(fpath)\n",
    "    \n",
    "    plt.imsave(fpath_pretty, img, cmap='viridis')\n",
    "    \n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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bNybmFR2VZgaMalZdw1+3IeX79nSGzcg8Uudv2FjFALYin9CRYvvzoFGsg38O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\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f2a3eb47240>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "D_ELAS = \"/home/barsana/datasets/kitti/odometry-dataset/sequences/06/image_2/\"\n",
    "\n",
    "elas = D_ELAS + \"000028_disp.pgm\"\n",
    "elas_dispmap = plt.imread(elas)\n",
    "plt.imshow(elas_dispmap, cmap='viridis')\n",
    "plt.imsave(D_ELAS + \"0000028_disp-viridis.png\", elas_dispmap, cmap='viridis')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.6.1"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
